Modeling and control of rotor-flying multi-joint manipulator
Modeling and control of rotor-flying multi-joint manipulator
复制标题
DOI：
10.3182/20140824-6-za-1003.00400
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Bin Yang;Yuqing He;Jianda Han;Guangjun Liu
中科院分区：
文献类型：
--
作者：
Bin Yang;Yuqing He;Jianda Han;Guangjun Liu
摘要在移动的机器人上安装机械手以主动影响其周围环境已被广泛应用于许多地面机器人、水下机器人和空间机器人系统中。然而，在旋翼飞行机器人（RFR）中进行这种重新设计是困难的。这主要是因为1）配备的机械手会带来其与RFR系统之间的强耦合，这使得整个系统模型高度复杂，使得中央控制器设计变得不可能。2)机械手的运动会给RFR系统引入大量的时变干扰，这使得分布式控制设计也具有挑战性。因此，在本文中，利用欧拉-拉格朗日方程，高精度的动力学模型的组合系统，称为转子飞行多关节机械手（RF-MJM），构建和分析其复杂性。然后，设计了一种线性化的全状态反馈线性二次型调节器（LQR）控制器，使飞机在配平点附近悬停。最后，利用MATLAB进行仿真，并对结果进行分析，以显示LQR控制器的基本控制性能。
Abstract Equipping manipulators on a mobile robot to actively influence its surroundings has been extensively used in many ground robots, underwater robots and space robots systems. However, it is difficult to make such re-design in a Rotor Flying Robot (RFR). This is mainly because 1) the equipped manipulator will bring heavy coupling between it and the RFR system, which makes the whole system model highly complicated and makes the central controller design impossible. 2) the movement of the manipulator will introduce a great deal time-varying disturbance to the RFR system, which makes distributed control design also challenging. Thus, in this paper, utilizing the Euler-Lagrange equation, the highly accurate dynamics model of a combined system, called Rotor-Flying Multi-Joint Manipulator (RF-MJM), is constructed and its complexity is analyzed and presented. Then, a linearized full-state feedback Linear Quadratic Regulator (LQR) controller is designed for the aircraft to hover near a trim point. Finally, simulations using MATLAB are conducted and the results are analyzed to show the basic control performance of the LQR controller.